cmake_minimum_required(VERSION 3.0.2)
project(mc_ros)

## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++14)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  nav_msgs
  sensor_msgs
  visualization_msgs
  tr_msgs
  tf2
  tf2_ros
  tf2_sensor_msgs
  laser_geometry
  roslib
  pcl_ros
  pcl_conversions
  cv_bridge
  image_transport
  image_geometry
  message_filters
)

## System dependencies are found with CMake's conventions
find_package(Boost REQUIRED COMPONENTS system)


## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
# add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
# )

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
# generate_messages(
#   DEPENDENCIES
#   std_msgs
# )

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES mc_ros
#  CATKIN_DEPENDS roscpp rospy std_msgs
#  DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
  include
  ${catkin_INCLUDE_DIRS}
  ${CMAKE_SOURCE_DIR}
  ${CMAKE_SOURCE_DIR}/motion_controller
)

## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/mc_ros.cpp
# )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/mc_ros_node.cpp)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
#   ${catkin_LIBRARIES}
# )

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_mc_ros.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
find_package(OpenCV REQUIRED)
include_directories(${OpenCV_INCLUDE_DIRS})

find_package(Eigen3 REQUIRED)
include_directories(${EIGEN3_INCLUDE_DIR})
add_definitions(${EIGEN_DEFINITIONS})

SET(CMAKE_BUILD_TYPE "Release")

# 通用模块
set(COMMON_DIR ${CMAKE_SOURCE_DIR}/common)
message(STATUS "COMMON_DIR is ${COMMON_DIR}")
file(GLOB file_manager 
  ${COMMON_DIR}/file_manager/file_manager.cpp)
file(GLOB json_file_manager 
  ${COMMON_DIR}/file_manager/json_file.cpp)
file(GLOB yaml_file_manager 
  ${COMMON_DIR}/file_manager/yaml_file.cpp)
file(GLOB rviz_visualization 
  ${COMMON_DIR}/rviz_visualization/*.cpp)
# file(GLOB http_bridge ${COMMON_DIR}/http_bridge/*.cpp)
# file(GLOB sqlite3 ${COMMON_DIR}/sqlite3/*.cpp)

set(MC_DIR ${CMAKE_SOURCE_DIR}/motion_controller)
# core
file(GLOB core_files 
  ${MC_DIR}/core/common/*.cpp
)
file(GLOB utils_files 
  ${MC_DIR}/core/utils/graphis_utils.cpp
  ${MC_DIR}/core/utils/math_utils.cpp
)
file(GLOB convert_files 
  ${MC_DIR}/core/convert/msg_convert.cpp
)
file(GLOB debug_files 
  ${MC_DIR}/core/debug/*.cpp
)
file(GLOB robot_model_files 
  ${MC_DIR}/core/robot_model/*.cpp
)

# costmap_2d
# file(GLOB costmap2d_files 
#   ${MC_DIR}/perception/costmap2d/common/*.cpp
#   ${MC_DIR}/perception/costmap2d/layers/*.cpp
#   ${MC_DIR}/perception/costmap2d/*.cpp
# )
file(GLOB costmap_2d_files 
  ${MC_DIR}/perception/costmap_2d/common/*.cpp
  ${MC_DIR}/perception/costmap_2d/layers/*.cpp
  ${MC_DIR}/perception/costmap_2d/visual/*.cpp
  ${MC_DIR}/perception/costmap_2d/*.cpp
)

# path_generate
file(GLOB path_generate_files 
  ${MC_DIR}/path_generate/path_base.cpp
  # ${MC_DIR}/path_generate/smoother/curve/*.cpp
  ${MC_DIR}/path_generate/p2p/grid_node.cpp
  ${MC_DIR}/path_generate/p2p/astar.cpp
  ${MC_DIR}/path_generate/p2p/jps.cpp
)
# controller
file(GLOB controller_files 
  ${MC_DIR}/controller/controller_base.cpp
  ${MC_DIR}/controller/dwa/*.cpp
  ${MC_DIR}/controller/pure_pursuit/*.cpp
  ${MC_DIR}/controller/stanley/*.cpp
  ${MC_DIR}/controller/lqr/*.cpp
)
# sensors
file(GLOB sensors_files 
  ${MC_DIR}/perception/sensors/*.cpp
  ${MC_DIR}/perception/sensors/convert/*.cpp
)

# file(GLOB coverpath_generate_files 
#   ${MC_DIR}/path_generate/*.cpp
#   ${MC_DIR}/path_generate/smoother/*.cpp
#   ${MC_DIR}/path_generate/p2p/astar.cpp
#   ${MC_DIR}/path_generate/ccpp/*.cpp
# )

#**********************************************
# 主要节点
#**********************************************
add_executable(controller_ros_node
  ${file_manager}
  ${yaml_file_manager}
  ${rviz_visualization}
  ${core_files}
  ${utils_files}
  ${debug_files}
  ${robot_model_files}
  ${convert_files}
  ${costmap_2d_files}
  ${path_generate_files}
  ${controller_files}
  src/visualization/controller_visualization.cpp
  src/processor/state_machine.cpp
  src/processor/processor_p2p.cpp
  src/controller_ros_node.cpp
)
add_dependencies(controller_ros_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(controller_ros_node
  ${catkin_LIBRARIES}
  ${Eigen3_LIBRARIES}
  ${OpenCV_LIBRARIES}
  ${PCL_LIBRARIES}
  glog
  yaml-cpp
  jsoncpp
)

add_executable(perception_handle_node
  ${file_manager}
  ${yaml_file_manager}
  ${robot_model_files}
  ${sensors_files}
  src/visualization/perception_visualization.cpp
  src/sensors/sensor_config.cpp
  src/sensors/sensor_handle.cpp
  src/perception_handle_node.cpp
)
add_dependencies(perception_handle_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(perception_handle_node
  ${catkin_LIBRARIES}
  ${Eigen3_LIBRARIES}
  ${OpenCV_LIBRARIES}
  ${PCL_LIBRARIES}
  glog
  yaml-cpp
)

add_executable(costmap_ros_node
  ${file_manager}
  ${costmap_2d_files}
  src/costmap_ros_node.cpp
)
add_dependencies(costmap_ros_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(costmap_ros_node
  ${catkin_LIBRARIES}
  ${EIGEN3_INCLUDE_DIRS}
  ${Boost_LIBRARIES}
  glog
)

#**********************************************
# 测试节点
#**********************************************

add_executable(test_node 
  ${file_manager}
  test/test_node.cpp
)
add_dependencies(test_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(test_node
  ${catkin_LIBRARIES}
  glog
)

add_executable(test_lidar2d_undistortion
  ${file_manager}
  ${yaml_file_manager}
  ${robot_model_files}
  ${sensors_files}
  test/test_lidar2d_undistortion.cpp
)
add_dependencies(test_lidar2d_undistortion ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(test_lidar2d_undistortion
  ${catkin_LIBRARIES}
  ${Eigen3_LIBRARIES}
  ${OpenCV_LIBRARIES}
  ${PCL_LIBRARIES}
  glog
  yaml-cpp
)

# add_executable(test_costmap_node 
#   ${file_manager}
#   ${rviz_visualization}
#   ${costmap_2d_files}
#   test/test_costmap_node.cpp
# )
# add_dependencies(test_costmap_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
# target_link_libraries(test_costmap_node
#   ${catkin_LIBRARIES}
#   # ${OpenCV_LIBRARIES}
#   # ${PCL_LIBRARIES}
#   # ${Eigen3_LIBRARIES}
#   glog
# )


# add_executable(test_costmap_ros_node
#   ${file_manager}
#   ${costmap_2d_files}
#   test/test_costmap_ros_node.cpp
# )
# add_dependencies(test_costmap_ros_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
# target_link_libraries(test_costmap_ros_node
#   ${catkin_LIBRARIES}
#   ${EIGEN3_INCLUDE_DIRS}
#   ${Boost_LIBRARIES}
#   glog
# )

add_executable(test_path_generate
  ${file_manager}
  ${rviz_visualization}
  ${utils_files}
  ${convert_files}
  ${costmap_2d_files}
  ${path_generate_files}
  test/test_path_generate.cpp
)
add_dependencies(test_path_generate ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(test_path_generate
  ${catkin_LIBRARIES}
  glog
)

add_executable(test_controller_node
  ${file_manager}
  ${rviz_visualization}
  ${core_files}
  ${utils_files}
  ${convert_files}
  ${costmap_2d_files}
  ${path_generate_files}
  ${controller_files}
  test/test_controller.cpp
)
add_dependencies(test_controller_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(test_controller_node
  ${catkin_LIBRARIES}
  glog
)

add_executable(test_path_replan
  ${file_manager}
  ${yaml_file_manager}
  ${rviz_visualization}
  ${core_files}
  ${utils_files}
  ${debug_files}
  ${robot_model_files}
  ${convert_files}
  ${costmap_2d_files}
  ${path_generate_files}
  ${controller_files}
  src/visualization/controller_visualization.cpp
  test/test_path_replan.cpp
)
add_dependencies(test_path_replan ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(test_path_replan
  ${catkin_LIBRARIES}
  glog
  yaml-cpp
  jsoncpp
)

add_executable(test_graphis_utils 
  ${utils_files} 
  test/test_graphis_utils.cpp
)
add_dependencies(test_graphis_utils ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(test_graphis_utils
  ${catkin_LIBRARIES}
)

add_executable(test_dubins_curve 
  ${MC_DIR}/path_generate/smoother/curve/dubins.cpp
  test/test_dubins_curve.cpp
)
add_dependencies(test_dubins_curve ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(test_dubins_curve
  ${catkin_LIBRARIES}
)


add_executable(test_line_fitting 
  test/test_line_fitting.cpp
)
add_dependencies(test_line_fitting ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(test_line_fitting
  ${catkin_LIBRARIES}
)

